Community Research and Development Information Service - CORDIS

Robotic movements in equilibrium

A Turkish invention concerning a balance system for robots that is based on transfer of fluids ensures increased efficiency of robotic performance even in weight-carrying.
Robotic movements in equilibrium
When designing legged robots, provisions are taken to ensure that balance is kept during movement or performance of a task. For this purpose, a key requirement is that the projection of the centre of gravity is found either under the standing foot or within the plane formed by the standing feet.

A solution to this is bending the robot's upper body in the opposite direction of the raised foot and alternating this motif during movement. Another method is making the robot hopping sequentially while standing, and jumping while moving forward, which makes balancing a very energy-consuming task.

Unlike these techniques, the suggested invention allows a more balanced movement for two- or multi- legged robots that can be applied in all fields of robotic applications. With this system the robot has the potential to accomplish a wide range of human movement functions, including carrying weight and using industrial machinery.

The basic principle is the use of a transferable balance fluid that with the aid of a pump moves between tanks, which are connected via a canal. The fluid tanks are preferably placed at the bottom of the feet contacting the surface. Depending on the design, there is possibility to have more than one tanks, pumps and canals.

This transfer of fluids between tanks allows the projection of the centre of gravity under the standing foot or within the plane formed by the feet. Hence, robots do not fall during movement, lifting of weights or pushing of objects. Apart from legged robots, the balance system may also be used in wheeled robots.

The balance system may be employed in various areas of applications of robotics, including walking units for disabled people, artificial legs and toys to name a few. It is expected that this innovation will greatly enhance robotics technology by improving movement abilities and increasing their load-carrying potential, even on irregular terrains.
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